DStarLiteJava

A java implementation of the incremental heuristic search algorithm D* Lite.

Getting Started

Import the DStarLite, Pair and State files into your project.

Example usage:

  //Create pathfinder
  DStarLite pf = new DStarLite();
  //set start and goal nodes
  pf.init(0,1,3,1);
  //set impassable nodes
  pf.updateCell(2, 1, -1);
  pf.updateCell(2, 0, -1);
  pf.updateCell(2, 2, -1);
  pf.updateCell(3, 0, -1);

  //perform the pathfinding
  pf.replan();

  //get and print the path
  List<State> path = pf.getPath();
  for (State i : path)
  {   
     System.out.println("x: " + i.x + " y: " + i.y);
  }   

License

MIT